
#ifndef _LQ_BALANCE_
#define _LQ_BALANCE_
#include "include.h"

extern unsigned char Flag_Stop, Flag_Show, Flag_Imu,Flag_getTurn,KEY_Flage;

void Demo_SBB_Car(void);
void OLED_Show(void);

int SBB_Get_MotorPI (int Encoder,int Target);
int SBB_Get_BalancePID(float Angle,float Gyro);

int SBB_in_chuanPID(float Angle);
int SBB_out_ChuanPID(int BalancePID,float Gyro);

short myabs(short x);
void Key_Process(void);
void Key_ProcessPID(void);

void Motor_Servo_control(void);
void UART4_SendInt16(unsigned char Function, int outData);
#endif
